ICT60 RACECAR - TEAM806

DEMO

ALGORITHMS

• For road segmentation, we use mainly floodfill and watershed algorithm. As you can see in the video, these algorithms do well in road segmentation and also noise removal.

• For traffic sign detection, we detect the interested area using color segmentation (HSV color space) and then pass the result into a SVM (Support Vector Machine) classfier with HOG (Histogram of oriented gradients) features.

ENVIRONMENT REQUIREMENT

• UBUNTU 18.04 / 16.04
• OPENCV 3.4.3: https://aicurious.io/posts/2018-09-14-cai-dat-opencv-tren-ubuntu-18-04/
• NPM: https://www.npmjs.com/
• ROS:
  • For Ubuntu 18.04: ROS Melodic Morenia: http://wiki.ros.org/melodic/Installation/Ubuntu
  • For Ubuntu 16.04: ROS Lunar: http://wiki.ros.org/lunar/Installation/Ubuntu
• unzip: sudo apt-get install unzip
• curl: sudo apt-get install curl

INSTALL

• Step 1: Ensure you have installed all the environment requirement
• Step 2: Clone the source code repository
• Step 3: Initialize the workspace by the command:

npm run init-workspace

• Step 4: Add this line to ~/.bashrc file to active the main workspace by default (or you have to run it each time you open a new tab).

source <path-to-repo-folder>/main_ws/devel/setup.bash

• Step 5: Download data files
  • Download svm file for Traffic Sign Detector 2 (optional): npm run download-svm-file-trafficsign-detector-2
  • Download all simulators (maybe large): npm run download-all-simulators
  • Download simulator 4 only: npm run download-simulator4
  • Download simulator 3 only: npm run download-simulator4
  • Download simulator 2 only: npm run download-simulator4
  • Download simulator 1 only: npm run download-simulator4

RUN THE PROJECT

Normal run

Following are the steps of a normal run

• Step 1: Start ROS server: Open a new terminal tab and type:

npm run ros-server

• Step 2: Re-Build the source code:

npm run make

• Step 3: Run ROS server: Open a new terminal tab and type:

npm run ros-server

• Step 4: Run Racecar node Open a new terminal tab and type:

npm run racecar

• Step 5: Run Simulator: Open a new terminal tab and type:

npm run simulator4

You can change the simulator (4) with a value (1-4) to start other simulator versions.

After that enter the configuration into simulator and run it. The value of Team for simulator is team806.

RUNNING COMMANDS

• npm run init-workspace : Initialize the workspace
• npm run ros-server: Start ROS server
• npm run make: Build the project
• npm run make-debug: Build the project with debug info
• npm run racecar: Run the racecar node
• npm run racecar-debug: Run the racecar node with debug info
• npm run racecar-launch: Run the racecar node using launch file
• npm run simulator1: Run simulator v1
• npm run simulator2: Run simulator v2
• npm run simulator3: Run simulator v3
• npm run simulator4: Run simulator v4
• npm run image_viewer: Run image viewer (for debuging)